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<h1>math-matrix.h</h1>  </div>
</div>
<div class="contents">
<a href="math-matrix_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup other</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup matrixfloat Matrix Library</span>
<a name="l00004"></a>00004 <span class="comment"> * matrix Math Library</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: math-matrix.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MATH_MATRIX_FLOAT_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MATH_MATRIX_FLOAT_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file math-matrix.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Matrix library</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * math-matrix.h provides a number of frequently used functions that are useful for</span>
<a name="l00018"></a>00018 <span class="comment"> * doing math with matrices.</span>
<a name="l00019"></a>00019 <span class="comment"> * Taken from http://playground.arduino.cc/Code/MatrixMath and ported to ROBOTC.</span>
<a name="l00020"></a>00020 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00023"></a>00023 <span class="comment"></span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * Changelog:</span>
<a name="l00026"></a>00026 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00027"></a>00027 <span class="comment"> *</span>
<a name="l00028"></a>00028 <span class="comment"> * \author Charlie Matlack</span>
<a name="l00029"></a>00029 <span class="comment"> * \author RobH45345</span>
<a name="l00030"></a>00030 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00031"></a>00031 <span class="comment"> * \date 2 March 2013</span>
<a name="l00032"></a>00032 <span class="comment"> * \version 0.1</span>
<a name="l00033"></a>00033 <span class="comment"> */</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="preprocessor">#pragma systemFile</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a><a class="code" href="group__matrixfloat.html#ga71212bcd68ee44b80905c37c538cecff">00037</a> <span class="preprocessor">#define NR_END 1</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a><a class="code" href="group__matrixfloat.html#ga829657e2ca02a7bfa7dfd45aa6287d32">00039</a> <span class="preprocessor">#define MATRIX_MAX_SIZE 10</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment">/**</span>
<a name="l00043"></a>00043 <span class="comment"> * Prints a nicely formatted version of the matrix to the debugstream</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * This function is for floats</span>
<a name="l00046"></a>00046 <span class="comment"> * @param matrix the matrix to be printed</span>
<a name="l00047"></a>00047 <span class="comment"> * @param numRows the number of rows in the matrix</span>
<a name="l00048"></a>00048 <span class="comment"> * @param numCols the number of columns in the matrix</span>
<a name="l00049"></a>00049 <span class="comment"> * @param label the label to use when printing the matrix</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a><a class="code" href="group__matrixfloat.html#ga68bdd7bbae350909040232b84975f2b5">00051</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#ga68bdd7bbae350909040232b84975f2b5">matrixPrintF</a>(<span class="keywordtype">float</span>* matrix, <span class="keywordtype">int</span> numRows, <span class="keywordtype">int</span> numCols, <span class="keywordtype">char</span>* label){
<a name="l00052"></a>00052   <span class="comment">// matrixA = input matrix (numRowsA x n)</span>
<a name="l00053"></a>00053   <span class="keywordtype">int</span> i,j;
<a name="l00054"></a>00054   writeDebugStreamLine(label);
<a name="l00055"></a>00055   <span class="keywordflow">for</span> (i=0; i&lt;numRows; i++){
<a name="l00056"></a>00056     <span class="keywordflow">for</span> (j=0;j&lt;numCols;j++){
<a name="l00057"></a>00057       writeDebugStream(<span class="stringliteral">&quot;%f&quot;</span>, matrix[numCols*i+j]);
<a name="l00058"></a>00058       writeDebugStream(<span class="stringliteral">&quot;\t&quot;</span>);
<a name="l00059"></a>00059     }
<a name="l00060"></a>00060     writeDebugStreamLine(<span class="stringliteral">&quot;&quot;</span>);
<a name="l00061"></a>00061   }
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment">/**</span>
<a name="l00066"></a>00066 <span class="comment"> * Prints a nicely formatted version of the matrix to the debugstream</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * This function is for longs</span>
<a name="l00069"></a>00069 <span class="comment"> * @param matrix the matrix to be printed</span>
<a name="l00070"></a>00070 <span class="comment"> * @param numRows the number of rows in the matrix</span>
<a name="l00071"></a>00071 <span class="comment"> * @param numCols the number of columns in the matrix</span>
<a name="l00072"></a>00072 <span class="comment"> * @param label the label to use when printing the matrix</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a><a class="code" href="group__matrixfloat.html#gae7fc3e2b572c3ee95d42ce7617e213b6">00074</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gae7fc3e2b572c3ee95d42ce7617e213b6">matrixPrintL</a>(<span class="keywordtype">long</span>* matrix, <span class="keywordtype">int</span> numRows, <span class="keywordtype">int</span> numCols, <span class="keywordtype">char</span>* label){
<a name="l00075"></a>00075   <span class="comment">// matrixA = input matrix (numRowsA x n)</span>
<a name="l00076"></a>00076   <span class="keywordtype">int</span> i,j;
<a name="l00077"></a>00077   writeDebugStreamLine(label);
<a name="l00078"></a>00078   <span class="keywordflow">for</span> (i=0; i&lt;numRows; i++){
<a name="l00079"></a>00079     <span class="keywordflow">for</span> (j=0;j&lt;numCols;j++){
<a name="l00080"></a>00080       writeDebugStream(<span class="stringliteral">&quot;%d&quot;</span>, matrix[numCols*i+j]);
<a name="l00081"></a>00081       writeDebugStream(<span class="stringliteral">&quot;\t&quot;</span>);
<a name="l00082"></a>00082     }
<a name="l00083"></a>00083     writeDebugStreamLine(<span class="stringliteral">&quot;&quot;</span>);
<a name="l00084"></a>00084   }
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">/**</span>
<a name="l00089"></a>00089 <span class="comment"> * Copies all the values from one matrix into another</span>
<a name="l00090"></a>00090 <span class="comment"> *</span>
<a name="l00091"></a>00091 <span class="comment"> * This function is for floats</span>
<a name="l00092"></a>00092 <span class="comment"> * @param source the matrix which is to be copied</span>
<a name="l00093"></a>00093 <span class="comment"> * @param numRows the number of rows in the source matrix</span>
<a name="l00094"></a>00094 <span class="comment"> * @param numCols the number of columns in the source matrix</span>
<a name="l00095"></a>00095 <span class="comment"> * @param destination the matrix to copy to</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="group__matrixfloat.html#gad657eb74b6014d226cc06665b5238b43">00097</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gad657eb74b6014d226cc06665b5238b43">matrixCopyF</a>(<span class="keywordtype">float</span>* source, <span class="keywordtype">int</span> numRows, <span class="keywordtype">int</span> numCols, <span class="keywordtype">float</span>* destination)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099   memcpy(destination, source, numRows * numCols * <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment">/**</span>
<a name="l00104"></a>00104 <span class="comment"> * Copies all the values from one matrix into another</span>
<a name="l00105"></a>00105 <span class="comment"> *</span>
<a name="l00106"></a>00106 <span class="comment"> * This function is for longs</span>
<a name="l00107"></a>00107 <span class="comment"> * @param source the matrix which is to be copied</span>
<a name="l00108"></a>00108 <span class="comment"> * @param numRows the number of rows in the source matrix</span>
<a name="l00109"></a>00109 <span class="comment"> * @param numCols the number of columns in the source matrix</span>
<a name="l00110"></a>00110 <span class="comment"> * @param destination the matrix to copy to</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a><a class="code" href="group__matrixfloat.html#gaa6ef516b2264dbd4c76011599e0a7ab5">00112</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gaa6ef516b2264dbd4c76011599e0a7ab5">matrixCopyL</a>(<span class="keywordtype">long</span>* source, <span class="keywordtype">int</span> numRows, <span class="keywordtype">int</span> numCols, <span class="keywordtype">long</span>* destination)
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114   memcpy(destination, source, numRows * numCols * <span class="keyword">sizeof</span>(<span class="keywordtype">long</span>));
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 
<a name="l00117"></a>00117 <span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment">/**</span>
<a name="l00119"></a>00119 <span class="comment"> * Copies all the values from one matrix into another</span>
<a name="l00120"></a>00120 <span class="comment"> *</span>
<a name="l00121"></a>00121 <span class="comment"> * This function is for floats</span>
<a name="l00122"></a>00122 <span class="comment"> * @param matrixA the first matrix to be multiplied</span>
<a name="l00123"></a>00123 <span class="comment"> * @param matrixB the second matrix to be multiplied</span>
<a name="l00124"></a>00124 <span class="comment"> * @param numRowsA the number of rows in the first matrix</span>
<a name="l00125"></a>00125 <span class="comment"> * @param numColsA the number of columns in the first matrix</span>
<a name="l00126"></a>00126 <span class="comment"> * @param numColsB the number of columns in the second matrix</span>
<a name="l00127"></a>00127 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00128"></a>00128 <span class="comment"> */</span>
<a name="l00129"></a><a class="code" href="group__matrixfloat.html#gafedeff979720a1fd4736c2c31939ff2d">00129</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gafedeff979720a1fd4736c2c31939ff2d">matrixMultF</a>(<span class="keywordtype">float</span>* matrixA, <span class="keywordtype">float</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">int</span> numColsB, <span class="keywordtype">float</span>* matrixC)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131   <span class="keywordtype">int</span> i, j, k;
<a name="l00132"></a>00132   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00133"></a>00133     <span class="keywordflow">for</span>(j = 0; j &lt; numColsB; j++)
<a name="l00134"></a>00134   {
<a name="l00135"></a>00135     matrixC[numColsB * i + j] = 0;
<a name="l00136"></a>00136     <span class="keywordflow">for</span> (k = 0; k &lt; numColsA; k++)
<a name="l00137"></a>00137       matrixC[numColsB*i+j]= matrixC[numColsB*i+j]+matrixA[numColsA*i+k]*matrixB[numColsB*k+j];
<a name="l00138"></a>00138   }
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">/**</span>
<a name="l00143"></a>00143 <span class="comment"> * Copies all the values from one matrix into another</span>
<a name="l00144"></a>00144 <span class="comment"> *</span>
<a name="l00145"></a>00145 <span class="comment"> * This function is for longs</span>
<a name="l00146"></a>00146 <span class="comment"> * @param matrixA the first matrix to be multiplied</span>
<a name="l00147"></a>00147 <span class="comment"> * @param matrixB the second matrix to be multiplied</span>
<a name="l00148"></a>00148 <span class="comment"> * @param numRowsA the number of rows in the first matrix</span>
<a name="l00149"></a>00149 <span class="comment"> * @param numColsA the number of columns in the first matrix</span>
<a name="l00150"></a>00150 <span class="comment"> * @param numColsB the number of columns in the second matrix</span>
<a name="l00151"></a>00151 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00152"></a>00152 <span class="comment"> */</span>
<a name="l00153"></a><a class="code" href="group__matrixfloat.html#ga2ed9714f9826f71cc04dbc10abb7927e">00153</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#ga2ed9714f9826f71cc04dbc10abb7927e">matrixMultL</a>(<span class="keywordtype">long</span>* matrixA, <span class="keywordtype">long</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">int</span> numColsB, <span class="keywordtype">long</span>* matrixC)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155   <span class="keywordtype">int</span> i, j, k;
<a name="l00156"></a>00156   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00157"></a>00157     <span class="keywordflow">for</span>(j = 0; j &lt; numColsB; j++)
<a name="l00158"></a>00158   {
<a name="l00159"></a>00159     matrixC[numColsB * i + j] = 0;
<a name="l00160"></a>00160     <span class="keywordflow">for</span> (k = 0; k &lt; numColsA; k++)
<a name="l00161"></a>00161       matrixC[numColsB*i+j]= matrixC[numColsB*i+j]+matrixA[numColsA*i+k]*matrixB[numColsB*k+j];
<a name="l00162"></a>00162   }
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment">/**</span>
<a name="l00167"></a>00167 <span class="comment"> * Adds values of two matrices</span>
<a name="l00168"></a>00168 <span class="comment"> *</span>
<a name="l00169"></a>00169 <span class="comment"> * This function is for floats</span>
<a name="l00170"></a>00170 <span class="comment"> * @param matrixA the first matrix to be added</span>
<a name="l00171"></a>00171 <span class="comment"> * @param matrixB the second matrix to be added</span>
<a name="l00172"></a>00172 <span class="comment"> * @param numRowsA the number of rows of both matrices</span>
<a name="l00173"></a>00173 <span class="comment"> * @param numColsA the number of columns of both matrices</span>
<a name="l00174"></a>00174 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00175"></a>00175 <span class="comment"> */</span>
<a name="l00176"></a><a class="code" href="group__matrixfloat.html#ga1010e9c11ba5ca1e40f537bb1470ca55">00176</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#ga1010e9c11ba5ca1e40f537bb1470ca55">matrixAddF</a>(<span class="keywordtype">float</span>* matrixA, <span class="keywordtype">float</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">float</span>* matrixC)
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178   <span class="keywordtype">int</span> i, j;
<a name="l00179"></a>00179   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00180"></a>00180     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00181"></a>00181     matrixC[numColsA * i + j] = matrixA[numColsA * i + j] + matrixB[numColsA * i + j];
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183 
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment">/**</span>
<a name="l00186"></a>00186 <span class="comment"> * Adds values of two matrices</span>
<a name="l00187"></a>00187 <span class="comment"> *</span>
<a name="l00188"></a>00188 <span class="comment"> * This function is for longs</span>
<a name="l00189"></a>00189 <span class="comment"> * @param matrixA the first matrix to be added</span>
<a name="l00190"></a>00190 <span class="comment"> * @param matrixB the second matrix to be added</span>
<a name="l00191"></a>00191 <span class="comment"> * @param numRowsA the number of rows of both matrices</span>
<a name="l00192"></a>00192 <span class="comment"> * @param numColsA the number of columns of both matrices</span>
<a name="l00193"></a>00193 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a><a class="code" href="group__matrixfloat.html#gae24e45827553e2af83d0383d6d4fc9be">00195</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gae24e45827553e2af83d0383d6d4fc9be">matrixAddL</a>(<span class="keywordtype">long</span>* matrixA, <span class="keywordtype">long</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">long</span>* matrixC)
<a name="l00196"></a>00196 {
<a name="l00197"></a>00197   <span class="keywordtype">int</span> i, j;
<a name="l00198"></a>00198   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00199"></a>00199     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00200"></a>00200     matrixC[numColsA * i + j] = matrixA[numColsA * i + j] + matrixB[numColsA * i + j];
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202 
<a name="l00203"></a>00203 <span class="comment"></span>
<a name="l00204"></a>00204 <span class="comment">/**</span>
<a name="l00205"></a>00205 <span class="comment"> * Adds values of two matrices</span>
<a name="l00206"></a>00206 <span class="comment"> *</span>
<a name="l00207"></a>00207 <span class="comment"> * This function is for floats</span>
<a name="l00208"></a>00208 <span class="comment"> * @param matrixA the first matrix to be added</span>
<a name="l00209"></a>00209 <span class="comment"> * @param matrixB the second matrix to be added</span>
<a name="l00210"></a>00210 <span class="comment"> * @param numRowsA the number of rows of both matrices</span>
<a name="l00211"></a>00211 <span class="comment"> * @param numColsA the number of columns of both matrices</span>
<a name="l00212"></a>00212 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a><a class="code" href="group__matrixfloat.html#gab53e38ba5fdb10652e1642e9f90f9ccb">00214</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gab53e38ba5fdb10652e1642e9f90f9ccb">matrixSubtractF</a>(<span class="keywordtype">float</span>* matrixA, <span class="keywordtype">float</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">float</span>* matrixC)
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216   <span class="keywordtype">int</span> i, j;
<a name="l00217"></a>00217   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00218"></a>00218     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00219"></a>00219     matrixC[numColsA * i + j] = matrixA[numColsA * i +j ] - matrixB[numColsA * i + j];
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221 
<a name="l00222"></a>00222 <span class="comment"></span>
<a name="l00223"></a>00223 <span class="comment">/**</span>
<a name="l00224"></a>00224 <span class="comment"> * Adds values of two matrices</span>
<a name="l00225"></a>00225 <span class="comment"> *</span>
<a name="l00226"></a>00226 <span class="comment"> * This function is for longs</span>
<a name="l00227"></a>00227 <span class="comment"> * @param matrixA the first matrix to be added</span>
<a name="l00228"></a>00228 <span class="comment"> * @param matrixB the second matrix to be added</span>
<a name="l00229"></a>00229 <span class="comment"> * @param numRowsA the number of rows of both matrices</span>
<a name="l00230"></a>00230 <span class="comment"> * @param numColsA the number of columns of both matrices</span>
<a name="l00231"></a>00231 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00232"></a>00232 <span class="comment"> */</span>
<a name="l00233"></a><a class="code" href="group__matrixfloat.html#gaa042c6ccfd0c13500a98bd62aa3f664c">00233</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gaa042c6ccfd0c13500a98bd62aa3f664c">matrixSubtractL</a>(<span class="keywordtype">long</span>* matrixA, <span class="keywordtype">long</span>* matrixB, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">long</span>* matrixC)
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235   <span class="keywordtype">int</span> i, j;
<a name="l00236"></a>00236   <span class="keywordflow">for</span> (i = 0; i &lt; numRowsA; i++)
<a name="l00237"></a>00237     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00238"></a>00238     matrixC[numColsA * i + j] = matrixA[numColsA * i +j ] - matrixB[numColsA * i + j];
<a name="l00239"></a>00239 }
<a name="l00240"></a>00240 
<a name="l00241"></a>00241 <span class="comment"></span>
<a name="l00242"></a>00242 <span class="comment">/**</span>
<a name="l00243"></a>00243 <span class="comment"> * Transpose a matrix</span>
<a name="l00244"></a>00244 <span class="comment"> *</span>
<a name="l00245"></a>00245 <span class="comment"> * This function is for floats</span>
<a name="l00246"></a>00246 <span class="comment"> * @param matrixA the first matrix to be transposed</span>
<a name="l00247"></a>00247 <span class="comment"> * @param numRowsA the number of rows of matrixA</span>
<a name="l00248"></a>00248 <span class="comment"> * @param numColsA the number of columns matrixA</span>
<a name="l00249"></a>00249 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00250"></a>00250 <span class="comment"> */</span>
<a name="l00251"></a><a class="code" href="group__matrixfloat.html#gab5a81822af2ac05e5e279f54edc20e7e">00251</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#gab5a81822af2ac05e5e279f54edc20e7e">matrixTransposeF</a>(<span class="keywordtype">float</span>* matrixA, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">float</span>* matrixC)
<a name="l00252"></a>00252 {
<a name="l00253"></a>00253   <span class="keywordtype">int</span> i, j;
<a name="l00254"></a>00254   <span class="keywordflow">for</span> (i = 0;i &lt; numRowsA; i++)
<a name="l00255"></a>00255     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00256"></a>00256     matrixC[numRowsA * j + i] = matrixA[numColsA * i + j];
<a name="l00257"></a>00257 }
<a name="l00258"></a>00258 
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment">/**</span>
<a name="l00261"></a>00261 <span class="comment"> * Transpose a matrix</span>
<a name="l00262"></a>00262 <span class="comment"> *</span>
<a name="l00263"></a>00263 <span class="comment"> * This function is for longs</span>
<a name="l00264"></a>00264 <span class="comment"> * @param matrixA the first matrix to be transposed</span>
<a name="l00265"></a>00265 <span class="comment"> * @param numRowsA the number of rows of matrixA</span>
<a name="l00266"></a>00266 <span class="comment"> * @param numColsA the number of columns matrixA</span>
<a name="l00267"></a>00267 <span class="comment"> * @param matrixC the resulting matrix</span>
<a name="l00268"></a>00268 <span class="comment"> */</span>
<a name="l00269"></a><a class="code" href="group__matrixfloat.html#ga240a2ed9e3f8a84499b250465003ea05">00269</a> <span class="keywordtype">void</span> <a class="code" href="group__matrixfloat.html#ga240a2ed9e3f8a84499b250465003ea05">matrixTransposeL</a>(<span class="keywordtype">long</span>* matrixA, <span class="keywordtype">int</span> numRowsA, <span class="keywordtype">int</span> numColsA, <span class="keywordtype">long</span>* matrixC)
<a name="l00270"></a>00270 {
<a name="l00271"></a>00271   <span class="keywordtype">int</span> i, j;
<a name="l00272"></a>00272   <span class="keywordflow">for</span> (i = 0;i &lt; numRowsA; i++)
<a name="l00273"></a>00273     <span class="keywordflow">for</span>(j = 0; j &lt; numColsA; j++)
<a name="l00274"></a>00274     matrixC[numRowsA * j + i] = matrixA[numColsA * i + j];
<a name="l00275"></a>00275 }
<a name="l00276"></a>00276 
<a name="l00277"></a>00277 
<a name="l00278"></a>00278 <span class="preprocessor">#endif // __MATH_MATRIX_FLOAT_H__</span>
<a name="l00279"></a>00279 <span class="preprocessor"></span><span class="comment">/*</span>
<a name="l00280"></a>00280 <span class="comment"> * $Id: math-matrix.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00281"></a>00281 <span class="comment"> */</span>
<a name="l00282"></a>00282 <span class="comment">/* @} */</span>
<a name="l00283"></a>00283 <span class="comment">/* @} */</span>
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